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Article

Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism

Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116026, China
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Actuators 2020, 9(4), 107; https://doi.org/10.3390/act9040107
Received: 22 September 2020 / Revised: 9 October 2020 / Accepted: 13 October 2020 / Published: 21 October 2020
(This article belongs to the Special Issue Pneumatic Soft Actuators)
The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM) actuator, based on the antagonistic mechanism of extensor and contractor muscles, a novel pneumatic soft actuator coupled of extensor and contractor muscles is proposed in this paper. The actuator can perform the compound action of elongation/contraction, and the stiffness of it can be controlled by adjusting the elongation and contraction forces. Secondly, based on the deformation principle of woven and elastic fabric layers, the mechanical characteristics model of the actuator is established and simulated. The mechanical properties of the actuator are tested under different pressures and deformation displacement and the variable stiffness characteristics of the actuator are verified. Finally, actuators are utilized to manufacture a soft mechanical manipulator, which can achieve variable stiffness in a fixed bending attitude. View Full-Text
Keywords: soft actuator; extensor; contractor; antagonism soft actuator; extensor; contractor; antagonism
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MDPI and ACS Style

Chen, Y.; Zhang, J.; Gong, Y. Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism. Actuators 2020, 9, 107. https://doi.org/10.3390/act9040107

AMA Style

Chen Y, Zhang J, Gong Y. Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism. Actuators. 2020; 9(4):107. https://doi.org/10.3390/act9040107

Chicago/Turabian Style

Chen, Yinglong, Junhao Zhang, and Yongjun Gong. 2020. "Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism" Actuators 9, no. 4: 107. https://doi.org/10.3390/act9040107

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